CN117994469A - Unmanned aerial vehicle-based power line panoramic image generation method and system - Google Patents
Unmanned aerial vehicle-based power line panoramic image generation method and system Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle-based power line panoramic image generation method and system: acquiring a three-dimensional point cloud of a target area; establishing a multi-layer grid, and dividing a point cloud corresponding to any grid into the grids; extracting N layers of grids in a preset height range, projecting point clouds in the nth layer of grids onto the horizontal plane of the nth layer of grids, and defining the projection point group as an estimated power line point group if the projection point group extending along a straight line exists and the width of the projection point group meets the preset width; judging whether the wire bracket point clouds exist in the three-dimensional point clouds along the extending directions of the two sides of the estimated power line point group, if so, estimating the point clouds corresponding to the power line point group as the power line point clouds; and traversing the N layers of grids, extracting all the power line point clouds and all the wire support point clouds, and constructing a panoramic image of the power line based on the power line point clouds and the wire support point clouds. The technical scheme of the invention can improve the accuracy and efficiency of generating the panoramic image of the power line.
Description
Technical Field
The invention belongs to the technical field of data processing, and particularly relates to a power line panoramic image generation method and system based on an unmanned aerial vehicle.
Background
Along with the continuous development of power grid informatization construction and the deep development of the fine management requirement, a power grid system increasingly pays attention to comprehensive display of panoramic information, and in the aspect of power line monitoring, construction of a panoramic image is helpful for workers to know the overall layout of a power line, monitor the conditions of the power line and a power line support and timely find abnormality.
In the prior art, for example, chinese patent application CN115150548a discloses a method, a device and a medium for outputting a panoramic image of a power transmission line based on a tripod head, which are used for obtaining a current position of the tripod head, determining a rotation instruction corresponding to the rotation of the tripod head from the current position to a designated position in response to an output instruction of the panoramic image in the power transmission line, issuing the corresponding rotation instruction to the tripod head, controlling the tripod head to perform rotation video recording according to a preset angle, obtaining a rotation recorded image of the tripod head, and performing stitching processing on the image to obtain the panoramic image corresponding to the power transmission line. For example, chinese patent application CN117078513a discloses a panoramic image generating method, device and storage medium, where a panoramic image to be generated is divided into N sub-areas according to latitude, where latitude ranges between different sub-areas are different, a mapping table is configured for the panoramic image to be generated, and an original image is obtained; and generating a panoramic image according to all the target mapping rules, all the target interpolation rules and the original image.
The two methods are that the image is shot by the camera equipment, and the shot images are spliced to generate the panoramic image. The panoramic image is generated by the method of shooting the image, a plurality of shooting points are required to be planned and set in advance, the camera is installed, time and labor are consumed, the cost is increased, the problems of complex operation process, poor shooting quality and the like are solved, more modern means are required to be adopted urgently, and the panoramic information display level is further improved.
In recent years, along with the continuous development of the national unmanned aerial vehicle industry, unmanned aerial vehicles are increasingly applied, and aerial photography through unmanned aerial vehicles is rapidly developed. Therefore, the method and the system for generating the panoramic image of the power line based on the unmanned aerial vehicle are provided to improve the accuracy and the efficiency of generating the panoramic image of the power line, and are the problems to be solved urgently.
Disclosure of Invention
Aiming at the technical problems, the invention provides a power line panoramic image generation method and system based on an unmanned aerial vehicle.
In a first aspect, the present invention provides a method for generating a panoramic image of an electric power line based on an unmanned aerial vehicle, the method comprising:
Step1, acquiring a three-dimensional point cloud of a target area;
step 2, establishing a plurality of layers of grids based on the height of the wire support and the total height of the three-dimensional point cloud, and dividing the point cloud corresponding to any layer of grids into any layer of grids;
Step3, extracting N layers of grids in a preset height range, and respectively establishing a three-dimensional coordinate system for each layer of grids, wherein the vertical downward direction is taken as a Z axis;
Step 4, extracting an nth layer of grids, projecting point clouds in the nth layer of grids onto an XY plane, and defining the projection point clusters as estimated power line point clusters when the projection point clusters extend along a straight line and the width of the projection point clusters meets a preset width exist on the XY plane, wherein N is a positive integer of 1-N;
Step 5, if the estimated power line point group exists in the nth layer of grids, judging whether the wire bracket point cloud exists in the three-dimensional point cloud along the extending directions of the two sides of the estimated power line point group, and if the wire bracket point cloud exists, judging that the point cloud corresponding to the estimated power line point group is the power line point cloud;
and 6, traversing all point clouds in the N layers of grids, extracting all power line point clouds and all wire support point clouds, and constructing a panoramic image of the power line based on all power line point clouds and all wire support point clouds.
Specifically, step 1 includes:
Step 11, acquiring a first high-altitude laser radar point cloud obtained by scanning a target area from high altitude through an unmanned aerial vehicle, and acquiring a first ground laser radar point cloud obtained by scanning the target area from ground;
Step 12, calculating a point cloud adjustment density based on the first high-altitude laser radar point cloud and the first ground laser radar point cloud, wherein a calculation formula of the point cloud adjustment density is as follows: ，
Wherein, For the point cloud adjustment density, k 1 and k 2 are parameter weight coefficients, k 1+k2 =1,/>For the density of the first high-altitude lidar point cloud,/>A density of the first ground lidar point cloud;
Step 13, acquiring a ground laser radar point which is in the same plane with any high-altitude laser radar point in the first ground laser radar point cloud and has a distance smaller than or equal to a preset distance A1 based on three-dimensional coordinates of the high-altitude laser radar points in the first high-altitude laser radar point cloud, and acquiring a second ground laser radar point cloud after traversing all the high-altitude laser radar points;
Step 14, adjusting the density of the first high-altitude laser radar point cloud based on the point cloud adjustment density to obtain a second high-altitude laser radar point cloud, adjusting the density of the second ground laser radar point cloud based on the point cloud adjustment density to obtain a third ground laser radar point cloud, and adding the third ground laser radar point cloud into the second high-altitude laser radar point cloud to generate a correction point cloud;
And 15, when the correction point cloud is in the same plane with any high-altitude laser radar point and the ground laser radar point exists in the range of which the distance is smaller than or equal to the preset distance A2, deleting the ground laser radar point existing in the range of the preset distance A2, and generating a three-dimensional point cloud after traversing all the high-altitude laser radar points, wherein A2 is smaller than A1.
Specifically, the wire support includes M types, the grid layer number is M+2, and in step 2, establishing a multi-layer grid based on the height of the wire support and the total height of the three-dimensional point cloud includes:
step 21, sorting M-type wire brackets in ascending order based on the heights of the wire brackets;
step 22, calculating the height of the lower edge line of the 2 nd grid from the ground according to the height of the 1 st type wire support, wherein the calculation formula is as follows: ，
Wherein HGL 2 is the height of the lower edge line of the 2 nd grid from the ground, As the weight coefficient of the parameter,HE 1 is the height of the class 1 wire rack;
Step 23, calculating the height between the lower edge line of the (m+1) th grid and the ground according to the height of the (m) th wire support, wherein the height between the lower edge line of the (m+1) th grid and the ground meets the following formula: And (2) and ，
Wherein HGL m+1 is the height of the (m+1) th grid lower edge line from the ground,As the weight coefficient of the parameter,HE m is the height of the M-th type wire support, HE m-1 is the height of the M-1-th type wire support, and M is a positive integer from 2 to M;
step 24, calculating the height between the upper edge of the M+1th grid and the ground according to the height of the M-th wire support, wherein the calculation formula is as follows: ，
wherein HG M+1 is the height of the upper edge line of the M+1th grid from the ground, As the weight coefficient of the parameter,。
Specifically, in step 4, if there is a projection point group extending along a straight line on the XY plane, and the width of the projection point group satisfies the preset width, the point cloud corresponding to the projection point group is projected onto a plane parallel to the extending direction of the projection point group, so as to obtain a second projection point group, and if the height of the second projection point group satisfies the preset height, the projection point group is defined as an estimated power line point group.
Specifically, step 5 includes:
step 51, obtaining an external rectangle of the estimated power line point group, and taking the length of the external rectangle as the length of the estimated power line point group;
step 52, calculating a search radius based on the length of the estimated power line point group, wherein the calculation formula is as follows: ，
Wherein Rs is a search radius, L is the length of the estimated power line point group, beta is a parameter weight coefficient, and R is a preset radius set on the basis of the grid where the estimated power line point group is located;
And 53, defining a middle branching line perpendicular to the broadside of the circumscribed rectangle as a first middle branching line, taking the middle points of the broadsides at two ends of the circumscribed rectangle as starting points, respectively generating radiuses at two sides of the circumscribed rectangle as search radiuses, and determining whether wire support point clouds exist in the search area, wherein the included angle is a preset angle, and the first middle branching line is a search area of an included angle bisector.
Specifically, in step 53, determining whether the wire-holder point cloud exists in the search area includes:
531, judging whether columnar point clouds exist in the search areas on two sides of the three-dimensional point cloud, and if so, acquiring the point cloud height of each columnar point cloud;
Step 532, based on the grid layer number where the estimated power line point group is located, acquiring the bracket height of the electric wire bracket corresponding to the estimated power line point group, and acquiring the bracket distance of the electric wire bracket corresponding to the estimated power line point group;
Step 533, based on the bracket height, judging whether columnar point clouds meeting the bracket height exist in the columnar point clouds on two sides respectively, and if so, defining the columnar point clouds meeting the bracket height as first columnar point clouds;
Step 534, determining whether the distance between the first columnar point clouds at two sides meets the bracket distance, if yes, determining that the wire bracket point clouds exist in the three-dimensional point clouds along the two side edges Shen Fang of the estimated power line point group upwards, wherein the first columnar point clouds meeting the bracket distance are the wire bracket point clouds corresponding to the estimated power line point group.
Specifically, step 1 is preceded by:
The method comprises the steps that the running direction of an unmanned aerial vehicle is taken as a first direction, a first laser radar transmitter takes the first direction as an axis, rotates on a plane perpendicular to the first direction according to a preset rotation angle and transmits laser, and the first laser radar transmitter is arranged at the tail or in front of the unmanned aerial vehicle;
Acquiring high-altitude laser radar point clouds obtained based on laser emitted by a first laser radar emitter, extracting first laser radar points with the linear distance from the first laser radar emitter within a first preset distance range, and sequentially connecting the first laser radar points to generate an unmanned aerial vehicle real-time route;
And adjusting the flight route of the unmanned aerial vehicle based on the real-time route of the unmanned aerial vehicle.
In a second aspect, the present invention also provides an unmanned aerial vehicle-based power line panoramic image generation system, which includes: the system comprises a point cloud acquisition module, a grid division module, a data extraction module, a data analysis module and an image establishment module;
The point cloud acquisition module is used for acquiring the three-dimensional point cloud of the target area;
the grid dividing module is used for establishing a plurality of layers of grids according to the height of the wire support and the total height of the three-dimensional point cloud, and dividing the point cloud corresponding to any layer of grids into any layer of grids;
the data extraction module is used for extracting N layers of grids in a preset height range, and respectively establishing a three-dimensional coordinate system for each layer of grids, wherein the vertical downward direction is taken as a Z axis;
the data analysis module is used for extracting an nth layer of grids, projecting point clouds in the nth layer of grids onto an XY plane, and defining the projection point group as an estimated power line point group when the projection point group has a projection point group extending along a straight line on the XY plane and the width of the projection point group meets a preset width, wherein N is a positive integer of 1-N; if the estimated power line point group exists in the nth layer of grid, judging whether the power line bracket point cloud exists in the three-dimensional point cloud along the extending directions of the two sides of the estimated power line point group, and if the power line bracket point cloud exists, judging that the point cloud corresponding to the estimated power line point group is the power line point cloud;
the image building module is used for traversing all the point clouds in the N layers of grids, extracting all the power line point clouds and all the wire support point clouds, and building the power line panoramic image based on all the power line point clouds and all the wire support point clouds.
According to the technical scheme, three-dimensional point clouds are firstly classified according to layers, N layers of grids in a preset height range are extracted, analysis is carried out on the grids one by one, suspected power line point clouds in the grids are obtained according to projection point groups which are obtained in any grid and extend along straight lines, whether the suspected power line point clouds are correct power line point clouds or not is judged by judging whether the power line support point clouds exist on two sides of the suspected power line point clouds or not, all the point clouds in the N layers of grids are traversed, all the power line point clouds and all the power line support point clouds are extracted, and a panoramic image of a power line is constructed based on all the power line point clouds and all the power line support point clouds. According to the technical scheme, the processing efficiency of the panoramic image of the unmanned aerial vehicle can be improved, and the accuracy and efficiency of generating the panoramic image of the power line are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, it will be apparent that the drawings in the following description are only embodiments of the present invention, and other drawings can be obtained according to the provided drawings without inventive effort to a person skilled in the art;
Fig. 1 is a flowchart of a power line panoramic image generation method based on an unmanned aerial vehicle;
FIG. 2 is a diagram of a search area according to an embodiment of the present invention;
Fig. 3 is a schematic structural diagram of an unmanned aerial vehicle-based power line panoramic image generation system.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be apparent that the particular embodiments described herein are merely illustrative of the present invention and are some, but not all embodiments of the present invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are within the scope of the present invention.
It should be noted that, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is only for descriptive purposes, and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Fig. 1 is a flowchart of an embodiment of a power line panoramic image generation method based on an unmanned aerial vehicle, where the flowchart specifically includes:
and step1, acquiring a three-dimensional point cloud of the target area.
Specifically, step 1 is preceded by:
The method comprises the steps that the running direction of an unmanned aerial vehicle is taken as a first direction, a first laser radar transmitter takes the first direction as an axis, rotates on a plane perpendicular to the first direction according to a preset rotation angle and transmits laser, and the first laser radar transmitter is arranged at the tail or in front of the unmanned aerial vehicle;
Acquiring high-altitude laser radar point clouds obtained based on laser emitted by a first laser radar emitter, extracting first laser radar points with the linear distance from the first laser radar emitter within a first preset distance range, and sequentially connecting the first laser radar points to generate an unmanned aerial vehicle real-time route;
And adjusting the flight route of the unmanned aerial vehicle based on the real-time route of the unmanned aerial vehicle.
The first preset distance is set according to experience of a person skilled in the art or according to an actual application scenario, which is not limited in the embodiment of the present application.
The first laser radar transmitter is mounted at the tail of the unmanned aerial vehicle, when the first laser radar transmitter rotates on a plane perpendicular to the first direction according to a preset rotation angle and emits laser light, a part of laser light is emitted on the unmanned aerial vehicle body (or the blade), and when the laser light is emitted, the distance from the laser radar point to the first laser radar transmitter can be calculated according to the coordinates of the laser radar point obtained through reflection, and when the distance is smaller than or equal to a first preset distance, the laser light is illustrated to be emitted on the unmanned aerial vehicle body, and the coordinates of the laser radar point are positions when the unmanned aerial vehicle emits the laser light.
The method comprises the steps of connecting a first laser radar point, generating a real-time route of the unmanned aerial vehicle, displaying the real-time route in a high-altitude laser radar point cloud, intuitively observing the flight route of the unmanned aerial vehicle, and adjusting the flight route of the unmanned aerial vehicle based on the real-time route of the unmanned aerial vehicle when the flight route deviates or the target area is not completely covered by scanning, so as to finish the scanning of the target area.
Preferably, the laser striking the unmanned aerial vehicle body can be determined according to the time of receiving the reflected line, the coordinate of the laser radar point corresponding to the laser is further obtained, and the coordinate is defined as the current position of the unmanned aerial vehicle.
Specifically, step 1 includes:
Step 11, acquiring a first high-altitude laser radar point cloud obtained by scanning a target area from high altitude through an unmanned aerial vehicle, and acquiring a first ground laser radar point cloud obtained by scanning the target area from ground;
Step 12, calculating a point cloud adjustment density based on the first high-altitude laser radar point cloud and the first ground laser radar point cloud, wherein a calculation formula of the point cloud adjustment density is as follows: ，
Wherein, For the point cloud adjustment density, k 1 and k 2 are parameter weight coefficients, k 1+k2 =1,/>For the density of the first high-altitude lidar point cloud,/>A density of the first ground lidar point cloud;
Step 13, acquiring a ground laser radar point which is in the same plane with any high-altitude laser radar point in the first ground laser radar point cloud and has a distance smaller than or equal to a preset distance A1 based on three-dimensional coordinates of the high-altitude laser radar points in the first high-altitude laser radar point cloud, and acquiring a second ground laser radar point cloud after traversing all the high-altitude laser radar points;
Step 14, adjusting the density of the first high-altitude laser radar point cloud based on the point cloud adjustment density to obtain a second high-altitude laser radar point cloud, adjusting the density of the second ground laser radar point cloud based on the point cloud adjustment density to obtain a third ground laser radar point cloud, and adding the third ground laser radar point cloud into the second high-altitude laser radar point cloud to generate a correction point cloud;
And 15, when the correction point cloud is in the same plane with any high-altitude laser radar point and the ground laser radar point exists in the range of which the distance is smaller than or equal to the preset distance A2, deleting the ground laser radar point existing in the range of the preset distance A2, and generating a three-dimensional point cloud after traversing all the high-altitude laser radar points, wherein A2 is smaller than A1.
The first ground lidar point cloud may be obtained by an in-vehicle laser scanning instrument, for example.
The first high-altitude laser radar point cloud obtained through unmanned aerial vehicle or aviation laser scanning and the like is far away from the target area, the obtained first high-altitude laser radar point cloud is low in accuracy, the first ground laser radar point cloud obtained through a vehicle-mounted laser scanning instrument and the like is high in accuracy, but the point cloud of the target area with a high distance or other scanning dead angles cannot be obtained. The high-altitude laser radar point cloud corrected by the first ground laser radar point cloud is used for generating the electric power line panoramic image, so that the accuracy of generating the electric power line panoramic image can be improved.
The first high-altitude laser radar point cloud is low in density, the first ground laser radar point cloud is high in density, and the first high-altitude laser radar point cloud and the first ground laser radar point cloud are combined in the same density. Preferably, the set point cloud adjustment density is a value between the first high altitude lidar point cloud density and the first ground lidar point cloud density, so that the adjusted high altitude lidar point cloud density and the ground lidar point cloud density are both point cloud adjustment densities. Illustratively, the density of the first high-altitude lidar point cloud is adjusted by adding a correction point on the line connecting the two high-altitude lidar points. Illustratively, the density of the first ground lidar point cloud is adjusted by deleting the ground lidar points.
Based on three-dimensional coordinates of high-altitude laser radar points in the high-altitude point cloud, acquiring ground laser radar points in a preset distance A1 on the same plane with the high-altitude laser radar points, traversing all the high-altitude laser radar points in the high-altitude point cloud, generating ground laser radar point clouds in the preset distance A1, adjusting the ground laser radar point clouds based on a reference adjustment density to obtain a third ground laser radar point cloud, and adding the second ground laser radar point cloud into the high-altitude point clouds after density adjustment to generate a corrected high-altitude point cloud. The preset value A1 is set by those skilled in the art empirically or according to the actual application scenario. Preferably, the setting of the preset value A1 is related to the density of the first high-altitude laser radar point cloud, and the smaller the density of the first high-altitude laser radar point cloud is, the larger the preset value A1 is set, so that the laser radar points missed by the high-altitude laser radar scanning can be extracted. And when the ground laser radar points exist in the range of the preset value A2 of the distance between the ground laser radar points and the high-altitude laser radar points on the same horizontal plane, deleting the ground laser radar points from the modified high-altitude point cloud, traversing all the high-altitude laser radar points in the modified high-altitude point cloud, and generating a three-dimensional point cloud. The high-altitude laser point has higher coordinate precision than the ground laser point, and the ground laser radar point obtained by the matching error can be deleted from the correction point cloud by deleting the ground laser radar point with the distance from the high-altitude laser radar point being smaller than the preset distance A2, so that the redundancy is reduced, and the accuracy of generating the panoramic image of the power line is improved
And 2, establishing a plurality of layers of grids based on the height of the wire support and the total height of the three-dimensional point cloud, and dividing the point cloud corresponding to any layer of grids into any layer of grids.
Specifically, the wire support includes M types, the grid layer number is M+2, and in step 2, establishing a multi-layer grid based on the height of the wire support and the total height of the three-dimensional point cloud includes:
and step 21, sorting the M-type wire brackets in ascending order based on the heights of the wire brackets.
Step 22, calculating the height of the lower edge line of the 2 nd grid from the ground according to the height of the 1 st type wire support, wherein the calculation formula is as follows:，
Wherein HGL 2 is the height of the lower edge line of the 2 nd grid from the ground, As the weight coefficient of the parameter,HE 1 is the height of the class 1 wire rack.
Step 23, calculating the height between the lower edge line of the (m+1) th grid and the ground according to the height of the (m) th wire support, wherein the height between the lower edge line of the (m+1) th grid and the ground meets the following formula: And (2) and ，
Wherein HGL m+1 is the height of the (m+1) th grid lower edge line from the ground,As the weight coefficient of the parameter,HE m is the height of the M-th type wire support, HE m-1 is the height of the M-1-th type wire support, and M is a positive integer from 2 to M.
Step 24, calculating the height between the upper edge of the M+1th grid and the ground according to the height of the M-th wire support, wherein the calculation formula is as follows:，
wherein HG M+1 is the height of the upper edge line of the M+1th grid from the ground, As the weight coefficient of the parameter,。
In the power network, the heights of the power line brackets corresponding to different types of power lines are different, and the safety distance between the power line below 1kV and the ground is 4 meters; the safety distance between the 1-10kV power line and the ground is 6 meters; the safe distance between the 35-110kV power line and the ground is 8 meters; the safety distance between the 154-220kV power line and the ground is 10 meters; the safety distance of the 350-500kV power line is 15 meters, and a plurality of layers of grids are established according to the heights of the wire brackets, so that only the point clouds of the same type of power line exist in the same layer of grids, and the point clouds of the power line can be conveniently extracted in a classified mode.
According to the technical scheme of the invention, the grid of the 1 st layer and the grid of the highest layer are grids of the point cloud without the power line, and only the grids with the point cloud with the power line are analyzed. Illustratively, there are three heights of 4 meters, 6 meters, 8 meters of the power line support, the three-dimensional point cloud is divided into 5 layers, the first layer and 5 th layer are grids without the power line point cloud, the height range of 0-3 meters is divided into a first layer of grids, the height range of 3-5 meters is divided into a second layer of grids, the height range of 5-7 meters is divided into a third layer of grids, the height range of 7-9 meters is divided into a fourth layer of grids, and the height range of 9 meters or more is divided into a fifth layer of grids.
And 3, extracting N layers of grids in a preset height range, and respectively establishing a three-dimensional coordinate system for each layer of grids, wherein the vertical downward direction is taken as a Z axis.
The preset height is set according to the heights of the power line brackets corresponding to all types of power lines in the target area, and the N layers of grids in the preset height range are grids covering all power line point clouds.
And 4, extracting an nth layer of grids, projecting point clouds in the nth layer of grids onto an XY plane, and defining the projection point clusters as estimated power line point clusters when the projection point clusters extend along a straight line and the width of the projection point clusters meets a preset width exist on the XY plane, wherein N is a positive integer of 1-N.
The preset width is set according to experience of a person skilled in the art or according to an actual application scenario, which is not limited in the embodiment of the present application.
Illustratively, the width of the projection point group is the width of a rectangle circumscribing the projection point group.
The vertical downward direction is the Z axis, the XY plane is the top view plane seen from the high place downwards, the electric lines of force between the two electric line of force supports generally have a certain width, the width is related to the number of electric lines connected to the two electric line of force supports, when the electric lines of force between the two electric line of force supports are projected on the ground, a certain width is formed, therefore, if there is a projection point group extending along a straight line on the XY plane, and the width of the projection point group meets the preset width, the projection point group is defined as a projection point group of a predicted electric line of force point group, namely the projection point group is a point cloud of a suspected electric line of force.
Further, in step 4, if there is a projection point group extending along a straight line on the XY plane, and the width of the projection point group satisfies the preset width, the point cloud corresponding to the projection point group is projected onto a plane parallel to the extending direction of the projection point group, so as to obtain a second projection point group, and if the height of the second projection point group satisfies the preset height, the projection point group is defined as an estimated power line point group.
The preset height is set according to experience of a person skilled in the art or according to actual application scenes, which is not limited in the embodiment of the present application.
The height of the second projection point group is exemplified as the height of the rectangle circumscribed by the second projection point group.
When the power line is projected on a plane parallel to the power line, the projection has a certain width, so that when the height of the second projection point group meets the preset height, the projection point group is defined as an estimated power line point group.
And 5, if the estimated power line point group exists in the nth layer of grids, judging whether the power line bracket point cloud exists in the three-dimensional point cloud along the extending directions of the two sides of the estimated power line point group, and if the power line bracket point cloud exists, judging the point cloud corresponding to the estimated power line point group as the power line point cloud.
Firstly, judging whether a suspected power line point cloud exists in the grid based on a projection point group of the point cloud in the grid, if so, further judging whether an electric wire bracket point cloud corresponding to the suspected power line point cloud exists in the three-dimensional point cloud, so that the search range is reduced, and the workload is reduced.
Specifically, step 5 includes:
step 51, obtaining an external rectangle of the estimated power line point group, and taking the length of the external rectangle as the length of the estimated power line point group;
step 52, calculating a search radius based on the length of the estimated power line point group, wherein the calculation formula is as follows: ，
Wherein Rs is a search radius, L is the length of the estimated power line point group, beta is a parameter weight coefficient, and R is a preset radius set on the basis of the grid where the estimated power line point group is located;
And 53, defining a middle branching line perpendicular to the broadside of the circumscribed rectangle as a first middle branching line, taking the middle points of the broadsides at two ends of the circumscribed rectangle as starting points, respectively generating radiuses at two sides of the circumscribed rectangle as search radiuses, and determining whether wire support point clouds exist in the search area, wherein the included angle is a preset angle, and the first middle branching line is a search area of an included angle bisector.
As shown in fig. 2, the circumscribed rectangle is 1, the preset included angle is 2, the first bisector is 3, the search radius is R, and the search area is 4. Searching wire support point clouds in the directions of two sides of the estimated power line point group respectively, wherein the smaller the length of the estimated power line point group is, the larger the searching radius is (namely, a larger searching area is arranged), so that the wire support point clouds are prevented from being leaked due to the fact that the searching is not in place.
Specifically, in step 53, determining whether the wire-holder point cloud exists in the search area includes:
531, judging whether columnar point clouds exist in the search areas on two sides of the three-dimensional point cloud, and if so, acquiring the point cloud height of each columnar point cloud;
Step 532, based on the grid layer number where the estimated power line point group is located, acquiring the bracket height of the electric wire bracket corresponding to the estimated power line point group, and acquiring the bracket distance of the electric wire bracket corresponding to the estimated power line point group;
Step 533, based on the bracket height, judging whether columnar point clouds meeting the bracket height exist in the columnar point clouds on two sides respectively, and if so, defining the columnar point clouds meeting the bracket height as first columnar point clouds;
Step 534, determining whether the distance between the first columnar point clouds at two sides meets the bracket distance, if yes, determining that the wire bracket point clouds exist in the three-dimensional point clouds along the two side edges Shen Fang of the estimated power line point group upwards, wherein the first columnar point clouds meeting the bracket distance are the wire bracket point clouds corresponding to the estimated power line point group.
Because grids are divided according to the heights of the power line brackets, different grid layers correspond to the power line brackets of different types of power lines, and distances among the power line brackets of different types of power lines are different, after the columnar point cloud is obtained, whether the columnar point cloud is the columnar point cloud corresponding to the power line point cloud of the grid layer is judged firstly based on the columnar point cloud height, then whether the group of columnar point clouds is the wire bracket point cloud corresponding to the estimated power line point cloud is judged based on the distances among the columnar point clouds on two sides of the estimated power line point cloud, if yes, the point cloud corresponding to the estimated power line point cloud is judged to be the wire bracket point cloud, and the group of columnar point clouds is the wire bracket point cloud corresponding to the wire bracket point cloud.
Preferably, different stent spacing may also be provided depending on the different ranges of the target area.
And 6, traversing all point clouds in the N layers of grids, extracting all power line point clouds and all wire support point clouds, and constructing a panoramic image of the power line based on all power line point clouds and all wire support point clouds.
Fig. 3 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle-based power line panoramic image generating system according to the present invention. As shown in fig. 3, the system includes: the system comprises a point cloud acquisition module 10, a grid division module 20, a data extraction module 30, a data analysis module 40 and an image establishment module 50.
The point cloud acquisition module 10 is configured to acquire a three-dimensional point cloud of a target area.
The grid dividing module 20 is configured to establish a plurality of layers of grids according to the height of the wire rack and the total height of the three-dimensional point cloud, and divide the point cloud corresponding to any layer of grids into any layer of grids.
The data extraction module 30 is configured to extract N layers of grids within a preset height range, and respectively establish a three-dimensional coordinate system for each layer of grids, with a vertically downward direction as a Z axis.
The data analysis module 40 is configured to extract an nth layer of grid, project point clouds in the nth layer of grid onto an XY plane, and define the projection point group as an estimated power line point group if there is a projection point group extending along a straight line on the XY plane and the width of the projection point group meets a preset width, where N is a positive integer from 1 to N; if the estimated power line point group exists in the nth layer of grid, judging whether the power line bracket point cloud exists in the three-dimensional point cloud along the extending directions of the two sides of the estimated power line point group, and if the power line bracket point cloud exists, judging that the point cloud corresponding to the estimated power line point group is the power line point cloud.
The image building module 50 is configured to traverse all the point clouds in the N-layer grid, extract all the power line point clouds and all the wire support point clouds, and build a panoramic image of the power line based on all the power line point clouds and all the wire support point clouds.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a non-transitory computer readable storage medium, and which, when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The foregoing examples have shown only the preferred embodiments of the invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (8)
1. The power line panoramic image generation method based on the unmanned aerial vehicle is characterized by comprising the following steps of:
Step1, acquiring a three-dimensional point cloud of a target area;
step 2, establishing a plurality of layers of grids based on the height of the wire support and the total height of the three-dimensional point cloud, and dividing the point cloud corresponding to any layer of grids into any layer of grids;
Step3, extracting N layers of grids in a preset height range, and respectively establishing a three-dimensional coordinate system for each layer of grids, wherein the vertical downward direction is taken as a Z axis;
Step 4, extracting an nth layer of grids, projecting point clouds in the nth layer of grids onto an XY plane, and defining the projection point clusters as estimated power line point clusters when the projection point clusters extend along a straight line and the width of the projection point clusters meets a preset width exist on the XY plane, wherein N is a positive integer of 1-N;
Step 5, if the estimated power line point group exists in the nth layer of grid, judging whether the power line bracket point clouds exist in the three-dimensional point clouds along the extending directions of the two sides of the estimated power line point group, and if the power line bracket point clouds exist, judging that the point clouds corresponding to the estimated power line point group are power line point clouds;
And 6, traversing all point clouds in the N-layer grid, extracting all power line point clouds and all wire support point clouds, and constructing a power line panoramic image based on all the power line point clouds and all the wire support point clouds.
2. The unmanned aerial vehicle-based power line panoramic image generation method according to claim 1, wherein the step 1 comprises:
Step 11, acquiring a first high-altitude laser radar point cloud obtained by scanning the target area from high altitude through an unmanned aerial vehicle, and acquiring a first ground laser radar point cloud obtained by scanning the target area from the ground;
step 12, calculating a point cloud adjustment density based on the first high-altitude laser radar point cloud and the first ground laser radar point cloud, wherein a calculation formula of the point cloud adjustment density is as follows: ，
Wherein, For the point cloud adjustment density, k 1 and k 2 are parameter weight coefficients, k 1+k2 =1,/>For the density of the first high-altitude lidar point cloud,/>A density of the first ground lidar point cloud;
Step 13, acquiring a ground laser radar point which is in the same plane with any high-altitude laser radar point in the first ground laser radar point cloud and has a distance smaller than or equal to a preset distance A1 based on three-dimensional coordinates of the high-altitude laser radar points in the first high-altitude laser radar point cloud, and acquiring a second ground laser radar point cloud after traversing all the high-altitude laser radar points;
Step 14, adjusting the density of the first high-altitude lidar point cloud based on the point cloud adjustment density to obtain a second high-altitude lidar point cloud, adjusting the density of the second ground lidar point cloud based on the point cloud adjustment density to obtain a third ground lidar point cloud, and then adding the third ground lidar point cloud to the second high-altitude lidar point cloud to generate a corrected point cloud;
and 15, when the correction point cloud and any high-altitude laser radar point are located on the same plane and the ground laser radar point exists in the range with the distance smaller than or equal to the preset distance A2, deleting the ground laser radar point existing in the range with the preset distance A2, and generating the three-dimensional point cloud after traversing all the high-altitude laser radar points, wherein A2 is smaller than A1.
3. The method for generating a panoramic image of an electric power line based on an unmanned aerial vehicle according to claim 1, wherein the electric wire support comprises M types, the grid layer number is m+2, and in the step 2, the establishing a multi-layer grid based on the height of the electric wire support and the total height of the three-dimensional point cloud comprises:
step 21, sorting the M-type wire brackets in ascending order based on the height of the wire brackets;
step 22, calculating the height of the lower edge line of the 2 nd grid from the ground according to the height of the 1 st type wire support, wherein the calculation formula is as follows: ，
Wherein HGL 2 is the height of the lower edge line of the 2 nd grid from the ground, As the weight coefficient of the parameter,HE 1 is the height of the class 1 wire rack;
Step 23, calculating the height between the lower edge line of the (m+1) th grid and the ground according to the height of the (m) th wire support, wherein the height between the lower edge line of the (m+1) th grid and the ground satisfies the following formula: And (2) and ，
Wherein HGL m+1 is the height of the (m+1) th grid lower edge line from the ground,As the weight coefficient of the parameter,HE m is the height of the M-th type wire support, HE m-1 is the height of the M-1-th type wire support, and M is a positive integer from 2 to M;
step 24, calculating the height between the upper edge of the M+1th grid and the ground according to the height of the M-th wire support, wherein the calculation formula is as follows: ，
wherein HG M+1 is the height of the upper edge line of the M+1th grid from the ground, Is a parameter weight coefficient,/>。
4. The method of claim 1, wherein in the step 4, if there is a projection point group extending along a straight line on the XY plane and the width of the projection point group satisfies a preset width, the point cloud corresponding to the projection point group is projected onto a plane parallel to the extending direction of the projection point group, a second projection point group is obtained, and if the height of the second projection point group satisfies a preset height, the projection point group is defined as the estimated power line point group.
5. The method for generating a panoramic image of an electric power line based on an unmanned aerial vehicle according to claim 1, wherein the step 5 comprises:
Step 51, obtaining an external rectangle of the estimated power line point group, and taking the length of the external rectangle as the length of the estimated power line point group;
Step 52, calculating a search radius based on the length of the estimated power line point group, wherein the calculation formula is as follows: ，
Wherein Rs is the searching radius, L is the length of the estimated power line point group, beta is a parameter weight coefficient, and R is a preset radius set based on the grid where the estimated power line point group is located;
And step 53, defining the middle branching line of the external rectangle perpendicular to the broadside as a first middle branching line, taking the middle points of the broadsides at two ends of the external rectangle as starting points, respectively generating a search radius at two sides of the external rectangle, wherein the radius is the search radius, the included angle is a preset angle, the first middle branching line is a search area of the included angle bisector, and judging whether the wire support point cloud exists in the search area.
6. The method for generating a panoramic image of an electric power line based on an unmanned aerial vehicle according to claim 5, wherein in the step 53, the determining whether the wire rack point cloud exists in the search area comprises:
531, judging whether columnar point clouds exist in the search areas on two sides of the three-dimensional point cloud, and if so, acquiring the point cloud height of each columnar point cloud;
Step 532, based on the grid layer number where the estimated power line point group is located, acquiring the bracket height of the electric wire bracket corresponding to the estimated power line point group, and acquiring the bracket distance of the electric wire bracket corresponding to the estimated power line point group;
step 533, based on the bracket height, judging whether columnar point clouds meeting the bracket height exist in the columnar point clouds on two sides respectively, and if so, defining the columnar point clouds meeting the bracket height as first columnar point clouds;
Step 534, determining whether the distance between the first columnar point clouds at two sides meets the bracket distance, if yes, determining that the wire bracket point clouds exist in the three-dimensional point clouds along two side extensions Shen Fang of the estimated power line point group upwards, wherein the first columnar point clouds meeting the bracket distance are the wire bracket point clouds corresponding to the estimated power line point group.
7. The unmanned aerial vehicle-based power line panoramic image generation method according to claim 1, wherein the step 1 is preceded by:
The method comprises the steps that the running direction of an unmanned aerial vehicle is taken as a first direction, a first laser radar transmitter takes the first direction as an axis, rotates on a plane perpendicular to the first direction according to a preset rotation angle and transmits laser, and the first laser radar transmitter is arranged at the tail or in front of the unmanned aerial vehicle;
Acquiring high-altitude laser radar point clouds obtained based on laser emitted by the first laser radar emitter, extracting first laser radar points with linear distance from the first laser radar emitter within a first preset distance range, and sequentially connecting the first laser radar points to generate an unmanned aerial vehicle real-time route;
and adjusting the flight route of the unmanned aerial vehicle based on the real-time route of the unmanned aerial vehicle.
8. An unmanned aerial vehicle-based power line panoramic image generation system for implementing the unmanned aerial vehicle-based power line panoramic image generation method according to any one of claims 1 to 7, comprising: the system comprises a point cloud acquisition module, a grid division module, a data extraction module, a data analysis module and an image establishment module;
The point cloud acquisition module is used for acquiring the three-dimensional point cloud of the target area;
The grid dividing module is used for establishing a plurality of layers of grids according to the height of the wire support and the total height of the three-dimensional point cloud, and dividing the point cloud corresponding to any layer of grids into any layer of grids;
the data extraction module is used for extracting N layers of grids in a preset height range, and respectively establishing a three-dimensional coordinate system for each layer of grids, wherein the vertical downward direction is taken as a Z axis;
The data analysis module is used for extracting an nth layer of grid, projecting point clouds in the nth layer of grid onto an XY plane, and defining the projection point group as an estimated power line point group when the projection point group extends along a straight line and the width of the projection point group meets a preset width exists on the XY plane, wherein N is a positive integer of 1-N; if the estimated power line point group exists in the nth layer of grids, judging whether the power line bracket point cloud exists in the three-dimensional point cloud along the extending directions of the two sides of the estimated power line point group, and if the power line bracket point cloud exists, judging that the point cloud corresponding to the estimated power line point group is the power line point cloud;
The image building module is used for traversing all the point clouds in the N-layer grid, extracting all the power line point clouds and all the wire support point clouds, and building a power line panoramic image based on all the power line point clouds and all the wire support point clouds.
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